CN112859840B - Substation foot type inspection robot path planning method and system - Google Patents
Substation foot type inspection robot path planning method and system Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a transformer substation foot type inspection robot path planning method and a system, wherein the method comprises the following steps: controlling the robot to run along a set routing inspection route, acquiring surrounding environment information in the routing inspection process, and identifying the type of the electric power equipment to be detected and the current running road surface characteristics; extracting semantic information of electric power equipment to be detected, and acquiring monitoring point location information associated with the electric power equipment to be detected; and controlling the robot to be separated from the set routing inspection route by using local path planning, and operating to the optimal observation position of the equipment to be inspected to acquire routing inspection data. The invention utilizes the characteristic that the foot type inspection robot has good adaptability to various road surface environments in a station, when approaching inspection equipment, the robot is controlled to be separated from an inspection task through local path planning to set a global inspection route and to run around the equipment to be inspected, thus realizing the all-dimensional inspection data acquisition of the equipment to be inspected and ensuring the acquisition of inspection data of the point to be inspected from the optimal observation angle.
Description
Technical Field
The invention relates to the technical field of transformer substation inspection robots, in particular to a transformer substation foot type inspection robot path planning method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Compared with the traditional wheel type inspection robot motion platform, the foot type inspection motion platform has stronger environmental adaptability and motion flexibility, can run in complex pavement environments such as grasslands, gravel pavements and the like in stations, can also cross typical barriers in stations such as barriers, stairs up and down, roadside stones during crossing and the like, and greatly improves the adaptability of the complex pavement environments in stations, thereby providing necessary conditions for the full-coverage inspection of a transformer substation.
However, because fixed or temporary facilities such as a rat guard, a security fence, a construction protection net and the like exist in sub-areas inside the transformer substation, the inspection operation area in the foot type robot station is restricted, how to plan a reasonable inspection route is realized, the robot can inspect the transformer substation equipment in a full coverage manner, and the foot type inspection benefit is maximally exerted, so that the problem of the existing robot path planning is solved.
In the prior art, routing of the inspection robot is usually planned in advance based on the environment in the transformer substation, and although some obstacle facilities can be avoided by the routes, the routes cannot realize all-dimensional inspection of equipment in the transformer substation, and are limited by the planned routes, and inspection data cannot be acquired at the best observation angle.
Disclosure of Invention
In view of the above, the invention provides a method and a system for planning a path of a foot type inspection robot for a transformer substation.
According to a first aspect of the embodiment of the invention, a transformer substation foot type inspection robot path planning method is provided, which comprises the following steps:
controlling the robot to run along a set routing inspection route, acquiring surrounding environment information in the routing inspection process, and identifying the type of the electric power equipment to be inspected and the current running road surface characteristics;
extracting semantic information of electric power equipment to be detected, and acquiring monitoring point location information associated with the electric power equipment to be detected;
according to the relative position relationship between the robot and the detection point and the current running road surface characteristics, the robot is controlled to be separated from the set routing inspection route by using local path planning, and the robot runs to the optimal observation position of the equipment to be inspected to acquire routing inspection data.
As a further scheme, the peripheral environment information collected in the inspection process specifically includes: the system comprises road surface characteristic information, obstacle information and to-be-detected power equipment information.
As a further scheme, collected image data is preprocessed, an object detection model is used for detecting an image, the position of road surface feature information, obstacle information or to-be-detected electric equipment information in the image is located, and the device classification model is used for identifying the located feature information, obstacle or to-be-detected electric equipment type.
As a further scheme, the method utilizes local path planning to control the robot to be separated from the set routing inspection route, and after the robot runs to the optimal observation position of the equipment to be detected, the method also comprises the following steps: and (5) performing standing pose adjustment on the foot type inspection robot.
As a further scheme, the specific method for adjusting the standing pose comprises the following steps:
acquiring attitude information and geometric information of the foot type inspection robot after the foot type inspection robot stands stably;
obtaining initial coordinates of the foot end in a shoulder joint coordinate system according to the obtained posture information and the geometric information;
and rotating the shoulder joint coordinate system to obtain a second coordinate system, further obtaining the position of the hip joint relative to the origin in the second coordinate system, and combining the leg left-right opening adjustment amount, the trunk adjustment amount and the initial coordinate to obtain a new coordinate.
As a further scheme, the trunk adjustment amount comprises a trunk torsion angle adjustment amount, a trunk pitch angle adjustment amount, a trunk roll angle adjustment amount, a trunk left-right translation adjustment amount, a trunk front-back translation adjustment amount and a trunk up-down translation adjustment amount.
As a further scheme, the geometric information includes the length from the trunk to the root of the thigh, the length of the thigh and the length of the shank, and the posture information includes the included angle between the trunk and the thigh and the included angle between the thigh and the shank.
As a further scheme, semantic information of the electric power equipment to be detected is extracted and matched with the information of the electric power equipment to be detected contained in the set inspection task, so that coordinates of the electric power equipment to be detected in a global map and detection point position information related to the equipment are obtained.
As a further scheme, the robot is controlled to run to the electric power equipment to be detected out of a set routing inspection route by utilizing local path planning, and the robot runs around the electric power equipment to be detected under the condition that safe running constraint is met so as to obtain the optimal observation position.
As a further scheme, the optimal observation position satisfies the following conditions: the coordinate connecting line of the current coordinate of the robot and the detection point is closest to the normal vector direction, and the distance between the robot and the detection point is closest.
According to a second aspect of the embodiments of the present invention, there is provided a substation foot type inspection robot path planning system, including:
the information acquisition module is used for controlling the robot to run along a set routing inspection route, acquiring surrounding environment information in the routing inspection process and identifying the type of the electric power equipment to be detected and the current running road surface characteristics;
the information extraction module is used for extracting semantic information of the electric power equipment to be detected and acquiring monitoring point location information associated with the electric power equipment to be detected;
and the local path planning module is used for controlling the robot to move to the optimal observation position of the equipment to be detected from the set inspection route by utilizing the local path planning according to the relative position relation between the robot and the detection point and the current running road surface characteristics so as to acquire inspection data.
According to a third aspect of the embodiment of the invention, a transformer substation foot type inspection robot is provided, which comprises the transformer substation foot type inspection robot path planning system, or the transformer substation foot type inspection robot path planning method is adopted to inspect electric equipment.
According to a fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor of a terminal device and to execute the substation foot inspection robot path planning method described above.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention innovatively provides an optimal path planning method combining global inspection and local inspection of a robot, when an inspection device is approached, the robot is controlled to be separated from an inspection task through local path planning to set a global inspection path and to run around the inspection device, the problem that temporary facilities in a transformer substation restrict the inspection path of the robot is solved, full-coverage inspection of the foot type robot on the transformer substation device is realized, the adaptability of the robot in inspection is improved, all-dimensional inspection data acquisition on the inspection device can be realized, and the inspection data of the point to be inspected can be acquired from the optimal observation angle.
(2) The invention innovatively provides a surrounding type dynamic identification method for a foot type robot, which is used for constructing a model of the type and the running pavement characteristics of electric equipment to be detected, developing an intelligent vision identification system for the foot type robot, solving the problem of inaccurate inspection data of point positions to be detected, realizing all-dimensional inspection data acquisition of the equipment to be detected, reducing the inspection time of the foot type robot and improving the inspection efficiency of the robot.
(3) The invention innovatively provides a method for actively increasing the stability of the posture of a mechanical arm of a transformer substation inspection robot, which utilizes the active adjustment of the posture of the mechanical arm arranged on a foot type motion platform to assist a foot type platform control system in controlling the posture of the platform, solves the problem that the posture of the motion platform is difficult to stably control due to the fact that the gravity center position of the platform is influenced by carrying inspection operation equipment on the foot type motion platform, improves the stability of the foot type inspection robot under different road surface environments, enhances the adaptability of the foot type platform to different road surfaces in a substation, and realizes that the platform keeps the balance state of stress and torque under the condition of satisfying the constraint conditions of all joints of legs.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flow chart of a transformer substation foot type inspection robot path planning method in the embodiment of the invention;
FIG. 2 is a schematic diagram of a standing pose adjustment process of a foot type inspection robot of a transformer substation in the embodiment of the invention;
fig. 3 is a schematic diagram of a coordinate calculation method of foot end coordinates in a shoulder joint coordinate system in the embodiment of the invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and furthermore, it should be understood that the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
According to the embodiment of the invention, an embodiment of a transformer substation foot type inspection robot path planning method is provided, and with reference to fig. 1, the method comprises the following processes:
s101: controlling the robot to run along a set routing inspection route, acquiring surrounding environment information in the routing inspection process, and identifying the type of the electric power equipment to be detected and the current running road surface characteristics;
specifically, the robot receives the inspection task and navigates and runs along a global inspection route set by the inspection task; in the running process of the robot, sensors such as a vision sensor or a laser radar and the like are used for collecting the information of the surrounding environment of the robot, the type of the electric equipment to be detected is identified by using a deep learning or other pattern identification technology, and the semantic information of the electric equipment to be detected and the current running road surface characteristics and boundaries are extracted.
Wherein the environment information includes: road surface characteristic information (flat road surface, stone road surface, grassland, cable trench cover plate, stairs, slope, doorway and the like), obstacle information (screen cabinet, tower, lightning arrester, transformer, vehicle, operation and maintenance personnel and the like) and information of electric equipment to be detected (equipment type, position, orientation and the like).
S102: extracting semantic information of electric power equipment to be detected, and obtaining detection point location information associated with the electric power equipment to be detected;
specifically, semantic information of the electric power equipment to be detected and a relative pose between the electric power equipment to be detected and the robot are extracted, and then the electric power equipment to be detected and the robot are matched with the patrol task including the equipment to be detected, so that coordinates of the equipment to be detected in a global map and detection point position information related to the equipment are obtained;
s103: according to the relative position relationship between the robot and the detection point and the current running road surface characteristics, the robot is controlled to run to the optimal observation position of the equipment to be detected from the set inspection route by utilizing local path planning to acquire inspection data.
In order to ensure that a detection point image associated with the equipment to be inspected is obtained from the optimal position, after the robot runs to the periphery of the equipment, the robot is controlled to run to the equipment to be inspected by using local path planning according to the relative position relation between the robot and the detection point and the identified current running road surface characteristic information, the robot is separated from a set inspection route and runs to the equipment to be inspected, the robot runs around the equipment to be inspected under the condition that safe running constraints (the width of a road surface and the distance from peripheral obstacles) are met, and meanwhile, the robot runs to the optimal observation position according to the following formula to acquire inspection data.
In the formula: n isx,ny,nzDetecting surface normal vectors for the device to be inspected, (x)r,yr,zr) And (x)j,yj,zj) The current coordinates of the robot in the global map and the space coordinates of the detection point are respectively.
The closer the coordinate connecting line of the current coordinate of the robot and the detection point is to the normal vector direction, and the closer the robot is to the detection point, the smaller the value of the formula is. That is, the optimal observation position allows the robot to observe the device in the direction in which the device is oriented as much as possible and to approach the device as close as possible.
In addition, utilize local path planning to control the robot and break away from setting for patrolling and examining the route and move to waiting to examine equipment after, before carrying out data acquisition, still include: and adjusting the standing pose.
Referring to fig. 2, the process is as follows:
the inspection step of the foot type robot is to traverse preset inspection point positions one by one, gradually decelerate until stepping when the robot reaches the vicinity of a target point, and then switch to a standing state.
When the robot stands, the left leg and the right leg are separated by a certain distance, so that a supporting polygon formed by four feet is larger than a quadrangle formed by shoulder joints and hip joints, the standing stability of the robot is enhanced, the distance needs to be adjusted according to actual conditions, the leg can be unstably toppled when the distance is too small and the leg side-swinging angle can reach the mechanical limit when the distance is too large.
After the standing is stable, the foot type robot carries out posture adjustment of the trunk according to position and posture feedback of the positioning program. The position adjustment comprises front-back adjustment (translation along an X axis) and left-right adjustment (translation along a Y axis), and the posture adjustment is that the robot twists left and right (twists around a Z axis). In addition, the foot robot can also adjust the inclination of the trunk according to the inspection requirement, namely roll angle adjustment (rotating around an X axis) and pitch angle adjustment (rotating around a Y axis).
The following describes a specific attitude adjustment process:
the conventional gait planning method is to control the positions of the ends of the four legs under the coordinate system of the trunk, namelyBHIPpTOETo achieve this, the present embodiment decouples the standing control from the attitude control and the leg-opening distance, via ΣPSum-sigmaBTwo coordinate systems to effect the movement.
Standing gait input without changing the original gait generation modePHIPpTOEAfter transformation, the distance between the left foot and the right foot, the body displacement and the posture adjustment amount are integrated to generate a new distanceBHIPpTOEFor foot end control.
The specific derivation process of the rotation mode and the translation mode is as follows, as shown in fig. 2, the coordinates of the foot end of the single leg in the shoulder joint coordinate system are:
as can be seen from fig. 3:
PpTOE＝PRB BpTOE+PpB (2)
PRB＝RZ(φref)RY(θref)RX(ψref) (3)
PpTOE＝PHIPpTOE+PpHIP+δw (4)
further, obtaining:
BHIPpTOE＝RX(-ψref)RY(-θref)RZ(-φref)(PHIPpTOE+PpHIP+PpB+δw)-BpHIP (5)
wherein the content of the first and second substances,
coordinate system ΣPBy sigmaBIs formed by rotation, the rotation is expressed by Z-Y-X Euler angle, and is expressed by sigmaPTo sigmaBThe rotation matrix of (a) is formula (3); wherein phi isrefRepresenting the torsion angle, theta, about the Z-axis of the orbiting coordinate systemrefPitch angle, ψ, representing the Y-axis of a orbiting coordinate systemrefRepresenting the roll angle around the X-axis of the motion coordinate system,PHIPpTOEas a coordinate system sigmaPThe position of the middle toe relative to the hip joint,PpHIPas a coordinate system sigmaPThe position of the mid hip joint relative to the origin.
Thereby can pass throughPHIPpTOEAdding the attitude and position information to obtainBHIPpTOE。
The variables in the control formula (5) can control the foot robot to perform the adjustment movement, wherein xoffsetThe front-back translation adjustment quantity (front is positive) of the trunk of the foot robot is represented; y isoffsetThe left-right translation adjustment amount (left is positive) of the trunk of the foot robot is represented; psirefIndicates the adjustment amount (positive left inclination) of the transverse rolling angle of the trunk of the legged robot, thetarefIndicates the adjustment quantity (forward inclination is positive) of the pitching angle of the trunk of the foot type robot, phirefThe adjustment amount of the twisting angle of the trunk of the legged robot is shown (the left twisting is positive), and W is the adjustment amount of the left and right stretching of the legs of the legged robot (the stretching is positive).
After the foot type robot reaches and patrols and examines near preset position, open four legs earlier and increase the support area, then the fine setting of standing, the truck gesture no longer rocks this moment, therefore can obtain more accurate positioning accuracy to twist through truck translation in situ and truck in situ and promoted the position accuracy and the angle accuracy of finally standing.
When the legged robot stands, the left leg and the right leg are separated by a certain distance, so that the supporting polygon enclosed by the four feet is larger than the quadrangle enclosed by the shoulder joint and the hip joint, the standing stability of the robot is enhanced, and the standing position and angle precision are further improved through further trunk adjustment.
S104: and after the robot breaks away from the set routing inspection route and finishes the acquisition of all point location data corresponding to the current equipment, the robot is controlled to return to the global routing inspection route set by the routing inspection task by using local path planning to continue routing inspection operation.
Example two
According to the embodiment of the invention, the embodiment of the transformer substation foot type inspection robot path planning system is provided, which specifically comprises the following steps:
the information acquisition module is used for controlling the robot to run along a set routing inspection route, acquiring surrounding environment information in the routing inspection process and identifying the type of the electric power equipment to be detected and the current running road surface characteristics;
the information extraction module is used for extracting semantic information of the electric power equipment to be detected and acquiring monitoring point location information associated with the electric power equipment to be detected;
and the local path planning module is used for controlling the robot to move to the optimal observation position of the equipment to be detected from the set inspection route by utilizing the local path planning according to the relative position relation between the robot and the detection point and the current running road surface characteristics so as to acquire inspection data.
As an optional embodiment, in order to increase the stability of the foot robot standing process, the method further comprises the following steps: and the standing pose adjusting module is used for adjusting the standing pose of the foot type robot.
It should be noted that the specific implementation process of each module is implemented by using the method disclosed in the first embodiment, and is not described again.
EXAMPLE III
In one or more embodiments, a substation foot-type inspection robot is disclosed, which includes the substation foot-type inspection robot path planning system described in the second embodiment, or performs inspection of electrical equipment by using the substation foot-type inspection robot path planning method described in the first embodiment.
Example four
In one or more embodiments, a computer-readable storage medium is disclosed, in which a plurality of instructions are stored, the instructions being adapted to be loaded by a processor of a terminal device and to perform the substation foot inspection robot path planning method described in the first embodiment.
The substation foot type inspection robot path planning method in the first embodiment can be directly implemented by a hardware processor, or implemented by combining hardware and software modules in the processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, among other storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor. To avoid repetition, it is not described in detail here.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (12)
1. A transformer substation foot type inspection robot path planning method is characterized by comprising the following steps:
controlling the robot to run along a set routing inspection route, acquiring surrounding environment information in the routing inspection process, and identifying the type of the electric power equipment to be detected and the current running road surface characteristics;
extracting semantic information of electric power equipment to be detected, and acquiring monitoring point location information associated with the electric power equipment to be detected;
according to the relative position relationship between the robot and the detection point and the current running road surface characteristics, the robot is controlled to be separated from a set routing inspection route by using local path planning, and the robot runs to the optimal observation position of the equipment to be inspected to acquire routing inspection data;
utilize local path planning to control the robot and break away from setting for and patrol and examine the route, after moving to the best observation position of the equipment of examining, still include: the method for adjusting the standing pose of the foot type inspection robot comprises the following specific steps: when the chair is standing, the left leg and the right leg are separated by a certain distance, so that the supporting polygon enclosed by the four feet is larger than the quadrangle enclosed by the shoulder joint and the hip joint; after the robot stands stably, the foot type robot carries out posture adjustment of the trunk according to position and posture feedback of a positioning program; the specific attitude adjustment process comprises the following steps:
the conventional gait planning method is to control the positions of the ends of the four legs in the coordinate system of the trunk, i.e. to control the position of the ends of the four legs in the coordinate system of the trunkBHIPpTOEThe standing control and the posture control and the leg opening distance are decoupled, and the control is realized through sigmaPSum-sigmaBTwo coordinate systems to effect motion;
standing gait input without changing the original gait generation modePHIPpTOEAfter transformation, the distance between the left foot and the right foot, the body displacement and the posture adjustment amount are integrated to generate a new distanceBHIPpTOEFor foot end control;
the derivation process of the specific rotating mode and the translation mode is as follows, and the coordinates of the single leg and foot end coordinates in the shoulder joint coordinate system are as follows:
PpTOE＝PRB BpTOE+PpB (2)
PRB＝RZ(φref)RY(θref)RX(ψref) (3)
PpTOE＝PHIPpTOE+PpHIP+δw (4)
obtaining:
BHIPpTOE＝RX(-ψref)RY(-θref)RZ(-φref)(PHIPpTOE+PpHIP+PpB+δw)-BpHIP (5)
wherein the content of the first and second substances,
coordinate system ΣPBy sigmaBIs formed by rotation, the rotation is expressed by Z-Y-X Euler angle, and is expressed by sigmaPTo sigmaBThe rotation matrix of (a) is formula (3); wherein phi isrefRepresenting the torsion angle, theta, about the Z-axis of the orbiting coordinate systemrefPitch angle, ψ, representing the Y-axis of a orbiting coordinate systemrefRepresenting the roll angle around the X-axis of the coordinate system,PHIPpTOEas a coordinate system sigmaPThe position of the midfoot relative to the hip joint,PpHIPas a coordinate system sigmaPThe position of the mid hip joint relative to the origin;
thereby passing throughPHIPpTOEAdding the attitude and position information to obtainBHIPpTOE；
The variable in control (5) controls the legged robot to perform the adjustment movement, where xoffsetThe front and back translation adjustment quantity of the trunk of the legged robot is represented; y isoffsetFoot-representation type robot trunkLeft-right translation adjustment amount; psirefIndicates the adjustment amount of the transverse rolling angle theta of the trunk of the legged robotrefIndicates the adjustment quantity of the pitching angle of the trunk of the foot type robot, phirefThe adjustment amount of the torsion angle of the trunk of the legged robot is shown, and W shows the adjustment amount of the left and right stretching of legs of the legged robot.
2. The substation foot type inspection robot path planning method according to claim 1, wherein the peripheral environment information collected in the inspection process specifically includes: the system comprises road surface characteristic information, obstacle information and to-be-detected power equipment information.
3. The substation foot type inspection robot path planning method according to claim 2, characterized in that collected image data is preprocessed, an object detection model is used for detecting the image, the position of road surface feature information, obstacle information or to-be-detected power equipment information in the image is located, and an equipment classification model is used for identifying the located feature information, obstacle or to-be-detected power equipment type.
4. The substation foot type inspection robot path planning method according to claim 1, wherein the specific method for adjusting the standing pose comprises the following steps:
acquiring attitude information and geometric information of the foot type inspection robot after the foot type inspection robot stands stably;
obtaining initial coordinates of the foot end in a shoulder joint coordinate system according to the obtained posture information and the geometric information;
and rotating the shoulder joint coordinate system to obtain a second coordinate system, further obtaining the position of the hip joint relative to the origin in the second coordinate system, and combining the leg left-right stretching adjustment amount, the trunk adjustment amount and the initial coordinate to obtain a new coordinate.
5. The substation foot inspection robot path planning method according to claim 4, wherein the trunk adjustment amount includes a trunk torsion angle adjustment amount, a trunk pitch angle adjustment amount, a trunk roll angle adjustment amount, a trunk left-right translation adjustment amount, a trunk front-back translation adjustment amount, and a trunk up-down translation adjustment amount.
6. The substation foot inspection robot path planning method according to claim 4, wherein the geometric information includes a length from a trunk to a thigh, a thigh length and a shank length, and the posture information includes an included angle between the trunk and the thigh and an included angle between the thigh and the shank.
7. The substation foot type inspection robot path planning method according to claim 1, characterized in that semantic information of the to-be-inspected power equipment is extracted and matched with the to-be-inspected power equipment information included in the set inspection task to obtain coordinates of the to-be-inspected power equipment in a global map and detection point location information associated with the equipment.
8. The substation foot type inspection robot path planning method according to claim 1, characterized in that local path planning is used to control the robot to move to the power equipment to be inspected out of a set inspection route, and the robot runs around the power equipment to be inspected under the condition of meeting safe operation constraints so as to obtain an optimal observation position.
9. The substation foot inspection robot path planning method according to claim 8, wherein the optimal observation position satisfies: the coordinate connecting line of the current coordinate of the robot and the detection point is closest to the normal vector direction, and the distance between the robot and the detection point is closest.
10. The utility model provides a robot path planning system is patrolled and examined to sufficient formula of transformer substation which characterized in that includes:
the information acquisition module is used for controlling the robot to run along a set routing inspection route, acquiring surrounding environment information in the routing inspection process and identifying the type of the electric power equipment to be detected and the current running road surface characteristics;
the information extraction module is used for extracting semantic information of the electric power equipment to be detected and acquiring monitoring point location information associated with the electric power equipment to be detected;
the local path planning module is used for controlling the robot to move to the optimal observation position of the equipment to be inspected from the set inspection route by utilizing the local path planning according to the relative position relation between the robot and the detection point and the current running road surface characteristics to acquire inspection data;
utilize local path planning to control the robot and break away from setting for and patrolling and examining the route, after moving to the best observation position of waiting to examine equipment, still include: the method is used for adjusting the standing pose of the foot type inspection robot and comprises the following specific steps: when the chair is standing, the left leg and the right leg are separated by a certain distance, so that the supporting polygon enclosed by the four feet is larger than the quadrangle enclosed by the shoulder joint and the hip joint; after the robot stands stably, the foot type robot carries out posture adjustment of the trunk according to position and posture feedback of a positioning program; the specific attitude adjustment process comprises the following steps:
the conventional gait planning method is to control the positions of the ends of the four legs in the coordinate system of the trunk, i.e. to control the position of the ends of the four legs in the coordinate system of the trunkBHIPpTOEThe standing control and the posture control and the leg opening distance are decoupled, and the control is realized through sigmaPSum-sigmaBTwo coordinate systems to effect motion;
standing gait input without changing the original gait generation modePHIPpTOEAfter transformation, the distance between the left foot and the right foot, the body displacement and the posture adjustment quantity are integrated to generate a new distanceBHIPpTOEFor foot end control;
the derivation processes of the specific rotation mode and the translation mode are as follows, and the coordinates of the foot end of the single leg in the shoulder joint coordinate system are as follows:
PpTOE＝PRB BpTOE+PpB (2)
PRB＝RZ(φref)RY(θref)RX(ψref) (3)
PpTOE＝PHIPpTOE+PpHIP+δw (4)
obtaining:
BHIPpTOE＝RX(-ψref)RY(-θref)RZ(-φref)(PHIPpTOE+PpHIP+PpB+δw)-BpHIP (5)
wherein the content of the first and second substances,
coordinate system ΣPBy sigmaBRotation is expressed by Z-Y-X Euler anglePTo sigmaBThe rotation matrix of (a) is formula (3); wherein phirefRepresenting the torsion angle, theta, about the Z-axis of the orbiting coordinate systemrefPitch angle, ψ, representing the Y-axis of a orbiting coordinate systemrefRepresenting the roll angle around the X-axis of the motion coordinate system,PHIPpTOEas a coordinate system sigmaPThe position of the middle toe relative to the hip joint,PpHIPas a coordinate system sigmaPThe position of the mid hip joint relative to the origin;
thereby passing throughPHIPpTOEAdding the attitude and position information to obtainBHIPpTOE；
The variable in control (5) controls the legged robot to perform the adjustment movement, where xoffsetThe front and back translation adjustment quantity of the trunk of the legged robot is represented; y isoffsetThe left-right translation adjustment quantity of the trunk of the legged robot is represented; psirefIndicates the adjustment amount of the transverse rolling angle theta of the trunk of the legged robotrefIndicates the adjustment quantity of the pitching angle of the trunk of the foot type robot, phirefThe adjustment amount of the torsion angle of the trunk of the legged robot is shown, and W shows the adjustment amount of the left and right stretching of legs of the legged robot.
11. A substation foot type inspection robot is characterized by comprising the substation foot type inspection robot path planning system in claim 10 or being used for inspection of power equipment by the substation foot type inspection robot path planning method in any one of claims 1-9.
12. A computer readable storage medium having stored therein a plurality of instructions, wherein the instructions are adapted to be loaded by a processor of a terminal device and to perform the substation foot patrol robot path planning method according to any one of claims 1-9.
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| CN114063643A (en) * | 2021-11-06 | 2022-02-18 | 山西东高舜博科技有限公司 | Remote monitoring control system and control method for transformer substation |
| CN113791626A (en) * | 2021-11-12 | 2021-12-14 | 南方电网数字电网研究院有限公司 | Power inspection method and device, quadruped robot, system and storage medium |
| CN114115272A (en) * | 2021-11-25 | 2022-03-01 | 中北大学 | Air multi-agent distributed elliptical surrounding guidance method with time-space decoupling characteristic |
| CN114923478B (en) * | 2022-07-20 | 2022-10-25 | 杭州锦辉科技有限公司 | Navigation path management method and system and electronic equipment |
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